• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Device and procedure for determining the quality of a meat product comprising an identifying element that identifies said meat product by issuing and/or receiving an identifying signal of the meat product, said identifying signal comprises at least some puncture requirements and/or a puncture depth (zi) in the predetermined meat product, positioning means configured to move a head, where said head is disposed at one end of said positioning means, and comprises an insertion element configured to be inserted inside said meat product at a predetermined puncture depth (zi), and measure at least one pH signal at a measurement point (xi, andi, zi) default, with the puncture point (xi, andi) default based on a previous analysis of the dich anatomy or meat product using an artificial vision device that determines the puncture point (xi, andi) based on the predetermined puncture requirements and the product anatomy meat. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2729733A1
    申请号:ES201830436
    申请日:2018-05-04
    公开日:2019-11-05
    发明作者:Lopez Francisco Javier Jane
    申请人:Aira Robotics S L；
    IPC主号:
    专利说明:

    [0001]
    [0002]
    [0003]
    [0004] The present invention relates to a device for determining the quality of a meat product. It also refers to a procedure for determining the quality of a meat product by means of the device object of the invention.
    [0005]
    [0006] Background of the invention
    [0007]
    [0008] The determination of the quality of a meat product is a key factor for subsequent processing, since depending on this, the product will be used for one type of processing or another. For example, a pork leg with a low quality will be suitable for the production of low quality cooked ham, and a leg with a high quality will be suitable for salting and drying and obtaining high quality cured ham.
    [0009]
    [0010] Various devices and procedures for determining the quality of a meat product are known in the state of the art. A first type of devices and procedures are based on analyzing, for example, an operator or a colorimeter, the color of the meat product and classifying it by means of a table in which certain product colors are associated with certain product qualities. This procedure has the disadvantage that the subjectivity of the operator can affect the classification of the product. Likewise, the lighting conditions of the product, such as the type of light used and the power of light to which said products are exposed can significantly affect the determination of product quality. Similarly, the color of the product varies from the time the animal is slaughtered until it is classified, forcing the quality determination to be made at a certain time after the animal is slaughtered. In addition, in case the animal suffers a bruise, as a result of a blow, the color of the product may be affected, causing an error in its classification.
    [0011]
    [0012] A second type of existing devices is based on the insertion of an element to analyze the meat, such as in EP1093581, where the prediction device comprises a probe that is inserted into a portion of meat, so that it allows to circulate a beam of light inside the meat portion to analyze it. The Spectral optical data obtained by the circulation of the light beam are combined with animal data such as: breed, age, animal category, weight, conformation fattening status, pH, flesh color, skin thickness, between others, to determine the quality of the meat product. However, these types of devices have the disadvantage that in order to determine the quality of the meat product, a large amount of prior information of the slaughtered animal must be available to combine it with the data that will be obtained through the device. Likewise, the described device is mainly intended to be used by an operator, so that the accuracy of the product quality determination will depend, in large part, on the skill of the operator to handle said device, since the determination of the Quality can vary significantly depending on the point of the meat product where the puncture is performed.
    [0013]
    [0014] Another type of known procedures are based on the measurement of the pH of the meat product, after about 24 hours after the slaughter of the animal, at which time the value of said pH of the slaughtered animal is stabilized. This pH value is determined by a scale that measures the degree of acidity of an object. This scale includes values ranging from 0, the most acidic value, to 14, the most basic value. A decrease in pH values from 5.0 to 4.0 means a tenfold increase in acidity, so that a wrong pH measurement can vary considerably the determination of the quality of the meat product.
    [0015]
    [0016] The latter type of procedures are carried out by means of a probe that is inserted inside the meat product where a pH value is measured. However, they have the disadvantage that the data is not always correct, since the probe is not located at a certain position and depth. Additionally, during the pH measurement, the probe moves from the measurement point giving erroneous pH data. As an example, the pH range to consider that a pork leg is of high quality and can be suitable for salting and drying is between pH 5.7 and 5.85, which means that the value of pH must be extremely accurate
    [0017]
    [0018] It is therefore clear the need to have a device and procedure that allows to determine the quality of meat products in a fast way and ensuring a total precision of the measured pH value, optimizing the process of selection of meat products for further processing .
    [0019]
    [0020] Description of the invention
    [0021] The objective of the present invention is to solve the aforementioned drawbacks by developing a device and a method for determining the quality of a meat product.
    [0022]
    [0023] In accordance with this objective, according to a first aspect, the present invention relates to a device comprising an identifying element that identifies the meat product by issuing and / or receiving an identifying signal of the meat product, said identifying signal comprises at least puncture requirements and / or a puncture depth (zi) in the predetermined meat product. This device also comprises positioning means configured to move a head that is arranged at one end of the positioning means, and comprises an insertion element configured to be inserted inside the meat product at a predetermined depth (zi), and measure at least one pH signal of said meat product at a predetermined measurement point (xi, yi, zi), the predetermined puncture point (xi, yi) being based on a previous analysis of the anatomy of said meat product by means of a artificial vision device that determines the puncture point (xi, yi) based on the predetermined puncture requirements and the anatomy of the meat product.
    [0024]
    [0025] According to the same objective, according to a second aspect, the present invention relates to a method for determining the quality of a meat product, by means of the claimed device comprising the steps of:
    [0026]
    [0027] a) identify the meat product by means of an identifying element that emits or receives an identifying signal of the meat product,
    [0028] b) move, by means of positioning means, the head from a rest position to a predetermined puncture point (xi, yi) depending on the predetermined puncture and puncture depth (zi) requirements included in the identifying signal of the meat product,
    [0029] c) insert, by means of actuation means, the insertion element inside the meat product at the predetermined puncture depth (zi) according to the predetermined puncture and puncture depth (zi) requirements included in the identifying signal of the meat product, d) keep the insertion element at the predetermined measurement point (xi, yi, zi) of the meat product for a certain puncture time, to measure at least one pH signal of the meat product,
    [0030] e) transmit, by means of transmission means, at least the pH signal of the meat product at a measuring point (xi, yi, zi) to a data structure and / or to the identifying element,
    [0031] f) extract, by means of the drive means, the insertion element inside the meat product, and
    [0032] g) move, by means of positioning means, the head from a puncture point (xi, yi) to a rest position.
    [0033]
    [0034] In the present invention, the term "meat product" will preferably be understood as a meat of an animal, for example pork. However, said meat product can be a meat selected from cow, ox, horse, ostrich, chicken, duck, goose, quail, partridge, turkey, rabbit, sheep, lamb and goat.
    [0035]
    [0036] The term data structure means a particular way of organizing data on a computer so that they can be used efficiently. In the device object of the invention said data structure is a database comprising values such as race, age, animal category, weight, conformation fattening status, pH, meat color, skin thickness, injected fat , among others, so that said database is searchable and editable. According to a preferred embodiment, said data structure is accessible by an identifying element, for example a chip, located in the meat product.
    [0037]
    [0038] Preferably, the predetermined puncture requirements and / or puncture depth are determined by the customer of the product, that is, the one that will be in charge of carrying out the post-treatment of the meat product, so that the data obtained through the puncture can be consulted and verified. a posteriori. However, said predetermined puncture requirements and / or puncture depth can be determined, for example, by the Ministry of Health or Quality of the country where said meat product should be consumed.
    [0039]
    [0040] In the present invention, because the insertion element moves until it is located at a predetermined puncture point where it is inserted into the meat product and measures at least the value of its pH, the quality of said meat product can be satisfactorily determined. With high precision and reliability. The present invention manages to position the insertion element at a measuring point with high precision determined and maintained for the determined time that the measurement operation lasts.
    [0041]
    [0042] A fast, simple and totally reliable device and procedure is thus obtained to determine the quality of a meat product. Also, the degree of accuracy of the classification for the subsequent processing of meat products according to their quality greatly improves when puncturing at a specific puncture point (xi, yi) and for a certain time. In addition, the claimed device allows to determine the quality of a meat product automatically, without the intervention of an operator.
    [0043]
    [0044] Embodiments of the device and method according to the dependent claims described below are described below.
    [0045]
    [0046] Preferably, the positioning means, for example comprise a robot with six degrees of freedom and, are configured to, in addition to being positioned at a predetermined puncture point (xi, yi), be able to move synchronously with means of transporting the product meat, so that during the puncture time the insertion element is inserted at a predetermined puncture depth (zi) in the meat product.
    [0047]
    [0048] In this way, the head of the device can move in a three-dimensional space in any direction and perform any type of rotation. Likewise, the head can be moved with the insertion element inserted inside the meat product, without interrupting the movement of the meat product in, for example, the production chain.
    [0049]
    [0050] Again preferably, the head comprises drive means, for example a piston with a stop, configured to insert the insertion element inside the meat product to a predetermined puncture depth (zi). In this way, the insertion element is introduced into the meat product until a predetermined puncture depth (zi) is reached, and the piston stop ensures that the measurement of at least the pH of the meat product is made just at the measurement point (xi, yi, zi) default without being able to scroll.
    [0051]
    [0052] According to a preferred embodiment, the insertion element comprises a pH sensor, for example an electrode, configured to measure the pH at the measurement point (xi, yi, zi) of the meat product The surface of said sensor reacts with the pH of the measuring point (xi, yi, zi) creating an electrical signal. Subsequently, said electrical signal can be transmitted by means of an electrical or radiofrequency signal to a data structure and / or to the identifying element of the meat product. Additionally, a converter can convert said electrical signal to a pH scale value for the degree of acidity, 0 being the most acidic value and 14 being the most basic value.
    [0053]
    [0054] Advantageously, the head further comprises a pH sensor calibration element of the insertion element to ensure the correct pH measurement. In this way, the pH sensor can be calibrated, to correct possible deviations that may arise over time between the pH measurements obtained and the pH reference value. For said calibration, calibration solutions with substances with a pH reference value are used to detect and correct possible deviations in the measurements.
    [0055]
    [0056] Preferably, the insertion element comprises an end to penetrate said puncture point (xi, yi) of the meat product. In this way, the insertion element easily penetrates the meat product avoiding a possible breakage of the insertion element when said meat product penetrates.
    [0057]
    [0058] According to a preferred embodiment, the head has a mechanism to detect the breakage of the end of the insertion element. Said mechanism comprises, for example, two fiber optic cables facing and holding each other, so that one is located on each side of the end of the insertion element interrupting a light beam between both fiber optic cables. Thus, when the end of the insertion element is broken, the light beam between the fiber optic cables is not interrupted and activates a warning signal.
    [0059]
    [0060] Advantageously, the device further comprises means for transmitting the pH signal obtained by the pH sensor to a data structure and / or to the meat product identifier. Said data transmission is carried out by means of an electrical and / or radio frequency signal. In this way, the pH signal obtained by the measurement or the already converted pH value is transmitted to a data structure or to the identifying element, so that it can be consulted at any time, preserving the traceability of the product.
    [0061]
    [0062] With reference to the procedure, preferably, before the first stage a) they are carried out the stages of:
    [0063] a ') analyze the anatomy of the meat product using an artificial vision device, and a' ') determine the puncture point (xi, yi) based on puncture requirements and / or predetermined puncture depth (zi) by an identifying sign of the meat product.
    [0064]
    [0065] In this way, the artificial vision device captures an image of each meat product for later analysis by means of a computer program. In this analysis it is determined, taking into account the predetermined puncture requirements and / or the puncture depth (zi), the exact puncture point (xi, yi) of each meat product. It should be borne in mind that each meat product may vary in its dimensions and morphology, so that, based on the predetermined puncture requirements provided, it calculates the exact puncture point (xi, yi). For example, the default puncture requirement may be to measure the pH at 5 cm. of the hip bone of the meat product. Subsequently, said information (xi, yi) can be transmitted to the identifying element. Through this stage, the processing of the meat product data and the puncture requirements and / or the predetermined puncture depth (zi) are combined and automated to obtain the puncture point (xi, yi) in a given meat product.
    [0066]
    [0067] Optionally, stage d) includes the stage of:
    [0068] d1) convert the pH signal of the meat product to a pH scale value for the degree of acidity.
    [0069]
    [0070] In this way, the pH signal, for example in electric signal format, is converted to a defined value within the pH scale for the degree of acidity.
    [0071]
    [0072] According to the claimed method, the positioning means are configured to, in addition to being positioned at a puncture point (xi, yi), be able to move synchronously with means of transporting the meat product, so that during the time that During puncture, said insertion element is immovably inserted at a puncture depth (zi) of said meat product. In this way, the meat product does not interrupt its displacement by, for example, the production chain, while the measurement of at least the pH of the meat product is carried out, so that the operation of determining the quality of the meat product does not entail any added time in the stage of the process in which the meat product is.
    [0073] According to one embodiment of the procedure, the puncture time is between 4 and 10 seconds, for example 6 seconds. Thus, after these seconds, the pH measurement stops fluctuating and stabilizes, so it is considered suitable for determining the quality of the meat product.
    [0074]
    [0075] Brief description of the figures
    [0076]
    [0077] To better understand how much has been exposed, some drawings are attached in which, schematically and only by way of non-limiting example, a practical case of realization is represented.
    [0078]
    [0079] Figure 1 shows a perspective view of the device object of the invention where the insertion element is located at a measuring point (xi, yi, zi) with the meat product not shown.
    [0080]
    [0081] Figure 2 shows a perspective view of the head of the device object of the invention when the insertion element is not actuated by the drive means.
    [0082]
    [0083] Figure 3 shows a perspective view of the head of the device object of the invention when the insertion element is actuated by the actuation means.
    [0084]
    [0085] Figure 4 shows a side elevational view of the head of the device object of the invention when the insertion element is not actuated by the actuation means.
    [0086]
    [0087] Figure 5 shows a side elevation view in detail of the head of the device object of the invention when the insertion element is actuated by the actuation means.
    [0088]
    [0089] Figure 6 shows a side elevation view of the device object of the invention when the head is located at a puncture point (xi, yi) and insertion element has been actuated by the actuation means to a depth (zi) inside of a meat product.
    [0090]
    [0091] Figure 7 shows a top elevation view of the device object of the invention in a production line comprising a plurality of meat products arranged to determine their quality by moving the head to a puncture point (xi, yi) and inserting the insertion element to a depth (zi) of said meat product.
    [0092]
    [0093] Description of a preferred embodiment
    [0094]
    [0095] A preferred embodiment of the device 1 is described below with reference to Figures 1 to 7.
    [0096]
    [0097] In said embodiment, the meat product 5 from which the quality must be determined is half pig carcass. In the same way, the puncture requirements and the puncture depth are determined by the customer of the product, that is, the one that will be in charge of the post-treatment of the meat product. Likewise, an artificial vision device (not shown) determines, by an analysis of the meat product 5, the puncture point (xi, yi) based on the puncture requirements and the anatomy of the meat product 5. Said artificial vision device (not shown) includes at least one camera for capturing images of the meat product 5 and a computer program that analyzes said images in combination with the puncture requirements to determine the puncture point (xi, yi). Likewise, the puncture time (t) during which the insertion element 4 is kept inside the measuring point (xi, yi, zi) of the meat product 5 is six seconds.
    [0098]
    [0099] It should be noted that in the embodiment described, the meat product 5 is in motion at all times, so that the production chain is not affected by the quality determination of the meat product 5.
    [0100]
    [0101] In the described embodiment, the device 1 is also provided with an identifying element 7, specifically a chip, which identifies said meat product 5 by sending and / or receiving an identifying signal of the meat product 5 (See Figure 6). This identifying signal comprises at least the puncture requirements and the puncture depth (zi) in the meat product 5 determined by the artificial vision device (not shown).
    [0102]
    [0103] The device 1 of the present invention comprises positioning means, specifically a robot 2 with six degrees of freedom, capable of displacing a head 3 arranged at one end of an arm 12 of the robot 2 and having an insertion element 4, and position it at any point in a three-dimensional space (See figure 1). In the same way, the robot 2 can move synchronously with means of transport 8 of the meat product 5.
    [0104]
    [0105] In the embodiment described, the robot 2 is arranged on a base 14 as a bench that allows the robot 2 to settle. Similarly, this base 14 is on a flat surface 13. The arms 12 of the robot 2 are articulated so that they rotate with respect to some axes by the action of servo motors 15 that allow positioning and moving the head 3 to the desired positions.
    [0106]
    [0107] As can be seen in Figures 2, 3, 4 and 5, the head 3 includes an insert 4 to penetrate inside the meat product 5 at a predetermined puncture depth (zi). The insertion element 4 has on its surface a pH sensor with an electrode to measure a pH signal at a predetermined measurement point (xi, yi, zi) of the meat product 5. Similarly, the insertion element 4 has a pointed end to facilitate penetration into the interior of the meat product 5.
    [0108]
    [0109] According to an alternative embodiment not shown, the head 3 includes a calibration element (not shown) of the pH sensor of the insertion element 4 to ensure the correct pH measurement. This calibration element (not shown) is located in the control box 11 together with other elements to ensure the correct operation of the device, such as transmission means (not shown).
    [0110]
    [0111] As can be seen in Figure 2, the head 3 has a mechanism to detect the breakage of the end of said insertion element 4. Said mechanism comprises staples 10, located in the vicinity of the insertion element 4, for holding two fiber optic cables 9 facing each other and located one on each side of the end of the insertion element 4. These fiber optic cables 9 circulate a beam of light that is interrupted by the tip of the insertion element 4. In case of breakage of the tip of the insertion element 4, the light beam is no longer interrupted, activating a warning signal to change said insertion element 4.
    [0112]
    [0113] In figures 3 and 5 it can be seen how the head 3 has drive means, specifically a piston 6 with a stop configured to move the insertion element to a predetermined puncture depth (zi), so that said puncture depth ( zi) remains constant during the time (t) of puncture in which the insertion element 4 is inside the meat product 5.
    [0114]
    [0115] The device 1 includes transmission means (not shown) which allow the pH signal measured by the pH sensor to be transmitted to a database by means of an electrical and / or radiofrequency signal. data of each 5 meat product. Similarly, the pH signal can also be transmitted to the identifier element 7, so that it is included in the meat product chip 5, allowing access to the information in the database at any stage of the production chain.
    [0116]
    [0117] The procedure for determining the quality of a meat product 5 by means of a device 1 of the described embodiment is described below, in accordance with Figures 1 to 7.
    [0118]
    [0119] In a first stage, an artificial vision device (not shown) analyzes the anatomy of the meat product 5 and determines the puncture point (xi, yi) based on the predetermined puncture requirements and puncture depth (zi) given by an identifying sign of the meat product (X). Once the puncture point (xi, yi) has been determined, the artificial vision device edits it in a data structure for later consultation by the device 1 to determine the quality of a meat product.
    [0120]
    [0121] Next, the meat product moves, by means of transport means 8, through the production chain until it reaches the device 1 to determine the quality of a meat product 5 that identifies it by means of an identifier element 7 that emits or receives an identifying signal that it comprises the puncture point (xi, yi) and the puncture depth (zi) of said meat product. Immediately, the robot 2 moves the head 3 from a rest position to the puncture point (xi, yi) of said meat product.
    [0122]
    [0123] Once located at the puncture point (xi, yi), the insertion element 4 is inserted into the meat product 5 by means of actuation means 6, specifically a piston with a stop, which allows the insertion element 4 to be introduced to a depth (zi) included in the identifying signal of the identifying element 7.
    [0124]
    [0125] Simultaneously to the positioning of the head 3 at the puncture point (xi, yi) and to the actuation of the insertion element 4 by the piston 6 with a stop, the robot 2 moves synchronously with the meat product 5 to keep the element for six seconds insert 4 inside the meat product 5 and measure a pH signal in the measuring point (xi, yi, zi).
    [0126]
    [0127] Subsequently, the pH signal of the measured meat product 5 is converted to a pH scale value for the degree of acidity and transmitted, by means of transmission, to a data structure and / or to the identifying element 7.
    [0128]
    [0129] Finally, after six seconds, the insertion element 4 is removed, by the piston with stop 6, from the inside of the meat product 5 and the robot 2 moves the head 3 from a puncture point (xi, yi) to a position of resting, where the insertion element is waiting to determine the quality of a new meat product.
    [0130]
    [0131] Although reference has been made to a specific embodiment of the invention, it is apparent to one skilled in the art that the described device and method are susceptible of numerous variations and modifications, and that all the mentioned details can be replaced by others technically equivalent, without departing from the scope of protection defined by the appended claims. For example, although it has been described that the product to determine the quality is half a pig carcass, this could also be another part of the same animal or of an animal selected from cow, ox, horse, ostrich, hen, duck, goose, quail , partridge, turkey, rabbit, sheep, lamb, goat. Similarly, although it has been described that the puncture requirements and puncture depth are determined by the customer of the product, these can be determined, for example, by the ministry of health or quality of the country where said meat product should be consumed . Similarly, although it has been described that the puncture time (t) is 6 seconds, it can be between 4 and 10 seconds.
    权利要求:
    Claims (18)
    [1]
    1. - Device (1) for determining the quality of a meat product (5) characterized by the fact that it comprises:
    - an identifying element (4) that identifies said meat product (5) by issuing and / or receiving an identifying signal of the meat product (5), said identifying signal comprises at least some puncture requirements and / or a puncture depth (zi) in the product (5) predetermined meat,
    - positioning means (2) configured to move a head (3), - said head (3) is arranged at one end of said positioning means (2), and comprises an insertion element (4) configured to be inserted into inside said meat product (5) at a predetermined puncture depth (zi), and measure at least one pH signal at a predetermined measurement point (xi, yi, zi), the puncture point (xi, yi being) ) predetermined based on a previous analysis of the anatomy of said meat product (5) by means of an artificial vision device that determines the puncture point (xi, yi) based on the predetermined puncture requirements and the product anatomy ( 5) meat.
    [2]
    2. - Device (1) according to claim 1, wherein said positioning means (2) are configured to, in addition to being positioned at a puncture point (xi, yi), be able to move synchronously with means (8 ) of transporting the meat product (5), so that during the puncture time (t) said insertion element (4) a puncture depth (zi) of said meat product (5) is inserted.
    [3]
    3. - Device (1) according to any one of the preceding claims, wherein said head (3) comprises drive means (6) configured to insert said insertion element (4) inside said product (5) meat to a predetermined puncture depth (zi).
    [4]
    4. - Device (1) according to claim 3, wherein said drive means comprise a piston with stop (5).
    [5]
    5. - Device (1) according to any one of the preceding claims, wherein said insertion element (4) comprises a pH sensor configured to measure the pH at the measurement point (xi, yi, zi) of the product ( 5) meat.
    [6]
    6. - Device (1) according to claim 5, wherein said pH sensor comprises an electrode.
    [7]
    7. - Device (1) according to any one of the preceding claims, wherein said head (3) also comprises a calibration element of the pH sensor of the insertion element (4) to guarantee the correct measurement of the pH.
    [8]
    8. - Device (1) according to any one of the preceding claims, wherein said identifying element (7) of said meat product (5) is a chip.
    [9]
    9. - Device (1) according to any one of the preceding claims, wherein said positioning means comprise a robot (2) with six degrees of freedom.
    [10]
    10. - Device (1) according to any one of the preceding claims, wherein said insertion element (4) comprises an end to penetrate said puncture point (xi, yi) of the meat product (5).
    [11]
    11. - Device (1) according to any one of the preceding claims, further comprising means for transmitting the pH signal obtained by the pH sensor to a data structure and / or to the identifying element (7).
    [12]
    12. - Device (1) according to any one of the preceding claims, wherein said transmission means (X) between the insertion element (4) and said data structure and / or towards the identifying element (7) are by an electrical and / or radio frequency signal.
    [13]
    13. - Procedure for determining the quality of a meat product (5) by means of a device (1) according to any one of claims 1 to 12, characterized in that it comprises the steps of:
    a) identify the meat product (5) by means of an identifier element (7) that emits or receives an identifying signal of said meat product (5),
    b) move, by means of positioning means (2), the head (3) from a resting position to a predetermined puncture point (xi, yi) depending on the predetermined puncture and puncture depth (zi) requirements included in the identifying sign of the meat product (5),
    c) inserting, by means of actuation means (6), said insertion element (4) inside the product (5) meat depth (zi) puncturing predetermined depending on the requirements of puncture and puncture depth (z) predetermined included in the identification signal the product (5) meat , d) keeping said insertion element (4) at the measuring point ( x ¡, yi, z ¡) of said meat product (5) a specific puncture time (ti), to measure at least one pH signal of the meat product (5),
    e) transmit, by means of transmission means, at least the pH signal of said meat product (5) at a measuring point (xi, yi, zi) to a data structure and / or to the identifying element (7),
    f) extracting, by means of actuation means (8), said insertion element (4) from inside said meat product (5), and
    g) move, by means of positioning means (2), the head (3) from a puncture point (x¡, yi) to a rest position.
    [14]
    14. - The method according to claim 13, wherein before steps a) the steps of:
    a ') analyze the anatomy of said meat product (5) by means of an artificial vision device, and
    a '') determine the puncture point ( x ¡, y¡) based on predetermined puncture requirements and / or puncture depth (zi) given by an identifying signal said meat product (5).
    [15]
    15. - Method according to claim 13 or 14, wherein step d) includes the stage of:
    d1) convert the pH signal of the meat product (5) to a pH scale value for the degree of acidity.
    [16]
    16. - Method according to claim 13, 14 or 15, wherein said positioning means (2) are configured to, in addition to being positioned at a puncture point (x¡, y¡), can be moved synchronously with some means (8) for transporting the meat product (5), so that during the puncture time (t) said insertion element (4) is immovably inserted at a puncture depth (zi) of said meat product (5).
    [17]
    17. - Method according to any one of claims 13 to 16, wherein the puncture time (t) is between 4 and 10 seconds.
    [18]
    18. Method according to any one of claims 13 to 17, wherein said meat product (5) is a meat of an animal selected from cow, pig, ox, horse, ostrich, hen, duck, goose, quail, partridge, turkey , rabbit, sheep, lamb, goat.
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    同族专利:
    公开号 | 公开日
    EP3788363A2|2021-03-10|
    WO2019211499A2|2019-11-07|
    CA3098120A1|2019-11-07|
    WO2019211499A4|2020-06-04|
    US20210190751A1|2021-06-24|
    ES2729733B2|2020-06-03|
    JP2021522531A|2021-08-30|
    WO2019211499A3|2020-03-26|
    KR20210005726A|2021-01-14|
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    EP19780281.2A| EP3788363A2|2018-05-04|2019-04-10|Device and method to determine the quality of a meat product|
    KR1020207034935A| KR20210005726A|2018-05-04|2019-04-10|Apparatus and method for determining the quality of meat products|
    US17/051,881| US20210190751A1|2018-05-04|2019-04-10|Device and method to determine the quality of a meat product|
    PCT/ES2019/070245| WO2019211499A2|2018-05-04|2019-04-10|Device and method to determine the quality of a meat product|
    CA3098120A| CA3098120A1|2018-05-04|2019-04-10|Device and method to determine the quality of a meat product|
    JP2021510547A| JP2021522531A|2018-05-04|2019-04-10|Equipment and methods for determining the quality of meat products|
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